version: 66.04
glider: 113
mission: 4
dive: 269
start: 11 5 108 17 59 58
data:
$ID,113
$MISSION,4
$DIVE,269
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51576
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00342
$HD_B,0.0096000005
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-26923.99
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,171
$PITCH_MAX,4022
$C_PITCH,2436
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.7
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,280
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,2340
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2420
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.00135
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-25.705193
$PRESSURE_SLOPE,0.0001160825
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004371644
$SEABIRD_T_H,0.00064727472
$SEABIRD_T_I,2.6231954e-05
$SEABIRD_T_J,2.8174416e-06
$SEABIRD_C_G,-9.9426794
$SEABIRD_C_H,1.1390046
$SEABIRD_C_I,-0.00057758979
$SEABIRD_C_J,0.00012778315
$GPS1,175102,6705.642,-5659.485,36,1.2,36,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.9
$GPS2,175903,6705.725,-5659.707,15,1.2,15,-37.6
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.185,-0.127
$KALMAN_X,9873.1,-1269.5,23.3,9425.2,-2308.4
$KALMAN_Y,-71876.9,183.8,203.9,91574.6,1626.7
$MHEAD_RNG_PITCHd_Wd,162.2,9845,-12.9,-7.021
$D_GRID,510
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.08,-146.0,0.0,0.0,0,149,0.00,0.00,-126.22,0.000,6,0.000,0.000,157,2334,3014
$GC,152,-1.08,-146.0,3.7,-3.5,23,166,8.82,2.35,0.00,0.000,4,0.263,0.059,2192,3749,3018
$GC,273,-0.61,-146.0,28.4,-17.1,44,280,0.40,2.17,0.00,0.000,6,0.170,0.039,2305,2340,3020
$GC,618,-0.61,-146.0,59.9,-7.6,105,624,0.00,2.20,0.00,0.000,4,0.000,0.051,2305,932,3020
$GC,663,-0.61,-146.0,63.7,-8.2,113,670,0.00,2.22,0.00,0.000,6,0.000,0.046,2305,2353,3020
$GC,1007,-0.69,-146.0,90.9,-8.2,174,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2353,3019
$GC,1345,-0.79,-146.0,113.3,-6.1,207,1350,0.15,2.25,0.00,0.000,4,0.089,0.062,2248,3746,3019
$GC,1368,-0.79,-146.0,115.1,-7.0,208,1372,0.00,2.17,0.00,0.000,6,0.000,0.038,2248,2324,3019
$GC,1700,-0.72,-146.0,141.8,-7.6,224,1705,0.12,2.33,0.00,0.000,4,0.170,0.064,2281,3740,3019
$GC,1790,-0.83,-146.0,147.9,-6.8,228,1794,0.10,2.15,0.00,0.000,6,0.098,0.039,2245,2338,3019
$GC,2116,-0.83,-146.0,172.1,-7.4,244,2119,0.00,2.30,0.00,0.000,4,0.000,0.064,2245,3747,3018
$GC,2131,-0.83,-146.0,173.4,-7.6,244,2138,0.00,2.15,0.00,0.000,6,0.000,0.038,2245,2341,3018
$GC,2447,-0.83,-146.0,196.7,-7.5,260,2451,0.00,2.30,0.00,0.000,4,0.000,0.064,2245,3751,3017
$GC,2474,-0.83,-146.0,198.9,-7.8,261,2479,0.00,2.20,0.00,0.000,6,0.000,0.038,2244,2334,3017
$GC,2802,-0.83,-146.0,222.6,-7.0,277,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2334,3018
$GC,3111,-0.83,-146.0,241.2,-5.8,292,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2334,3018
$GC,3420,-0.83,-146.0,259.3,-6.1,307,3424,0.00,2.30,0.00,0.000,4,0.000,0.064,2245,3742,3018
$GC,3431,-0.83,-146.0,259.9,-5.9,307,3435,0.00,2.15,0.00,0.000,6,0.000,0.037,2244,2330,3017
$GC,3753,-0.83,-146.0,278.9,-5.7,323,3756,0.00,2.30,0.00,0.000,4,0.000,0.061,2245,3745,3019
$GC,3763,-0.83,-146.0,279.6,-5.8,323,3767,0.00,2.15,0.00,0.000,6,0.000,0.036,2245,2334,3018
$GC,4085,-0.83,-146.0,298.4,-6.0,339,4089,0.00,2.28,0.00,0.000,4,0.000,0.062,2245,3742,3019
$GC,4131,-0.89,-146.0,301.2,-6.8,341,4135,0.00,2.15,0.00,0.000,6,0.000,0.037,2245,2326,3019
$GC,4463,-0.89,-146.0,320.5,-5.7,357,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2326,3020
$GC,4772,-0.89,-146.0,337.9,-5.6,372,4776,0.00,2.33,0.00,0.000,4,0.000,0.062,2245,3753,3020
$GC,4812,-0.95,-146.0,340.3,-5.7,373,4818,0.00,2.15,0.00,0.000,6,0.000,0.036,2245,2340,3020
$GC,5127,-0.95,-146.0,357.7,-5.4,389,5131,0.00,2.30,0.00,0.000,4,0.000,0.062,2245,3750,3021
$GC,5177,-1.01,-146.0,360.6,-6.2,391,5182,0.10,2.15,0.00,0.000,6,0.098,0.035,2205,2336,3021
$GC,5504,-0.92,-146.0,383.4,-7.0,407,5509,0.12,2.30,0.00,0.000,4,0.152,0.061,2240,3743,3021
$GC,5525,-0.92,-146.0,385.1,-7.2,408,5529,0.00,2.12,0.00,0.000,6,0.000,0.035,2240,2340,3021
$GC,5872,-0.92,-146.0,405.6,-5.9,423,5875,0.00,2.28,0.00,0.000,4,0.000,0.061,2240,3743,3021
$GC,5934,-0.99,-146.0,409.3,-6.4,424,5938,0.00,2.15,0.00,0.000,6,0.000,0.035,2240,2330,3021
$GC,6247,-0.99,-146.0,426.7,-5.4,432,6251,0.00,2.30,0.00,0.000,4,0.000,0.061,2240,3746,3022
$GC,6293,-1.05,-146.0,429.3,-6.2,433,6297,0.12,2.15,0.00,0.000,6,0.091,0.035,2194,2330,3022
$GC,6623,-0.94,-146.0,452.2,-7.0,441,6627,0.15,2.33,0.00,0.000,4,0.147,0.061,2235,3754,3022
$GC,6639,-0.89,-146.0,453.1,-6.9,441,6643,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2338,3022
$GC,6952,-0.89,-146.0,471.0,-6.0,449,6956,0.00,2.28,0.00,0.000,4,0.000,0.059,2235,3744,3022
$GC,7027,-0.94,-146.0,475.8,-6.6,450,7031,0.00,2.15,0.00,0.000,6,0.000,0.035,2235,2328,3022
$GC,7369,-0.94,-146.0,497.3,-6.1,459,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2329,3023
$STATE,7610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7610,begin apogee
$GC,7616,-0.34,0.0,512.3,6.2,465,7746,0.43,0.00,127.30,1.135,6,0.138,0.000,2367,2523,2420
$STATE,7747,end apogee,CONTROL_FINISHED_OK
$STATE,7747,begin climb
$GC,7750,1.08,146.0,514.6,0.0,468,7889,1.02,2.62,130.25,1.065,4,0.100,0.059,2676,3922,1823
$GC,7975,0.81,146.0,495.2,10.9,473,7980,0.25,2.30,0.00,0.000,6,0.137,0.035,2608,2524,1822
$GC,8307,0.90,164.5,474.6,6.4,481,8328,0.10,2.25,16.35,1.021,4,0.085,0.047,2652,1112,1749
$GC,8392,0.90,164.5,467.8,8.1,483,8396,0.00,2.22,0.00,0.000,6,0.000,0.044,2652,2522,1747
$GC,8722,0.84,164.5,440.3,8.5,491,8727,0.15,2.25,0.00,0.000,4,0.133,0.059,2608,3929,1747
$GC,8793,0.84,164.5,434.4,8.2,492,8797,0.00,2.17,0.00,0.000,6,0.000,0.037,2608,2501,1747
$GC,9131,0.95,179.3,412.2,6.5,501,9150,0.12,2.20,13.32,1.002,4,0.080,0.048,2664,1123,1688
$GC,9201,0.90,179.3,406.2,8.7,502,9206,0.12,2.20,0.00,0.000,6,0.130,0.044,2628,2529,1688
$GC,9527,0.91,184.6,382.9,6.8,516,9537,0.00,2.25,6.07,0.831,4,0.000,0.059,2628,3940,1667
$GC,9577,0.86,184.6,378.9,7.8,518,9581,0.00,2.17,0.00,0.000,6,0.000,0.036,2628,2514,1666
$GC,9898,0.92,187.8,357.9,6.9,534,9907,0.00,2.17,4.35,0.711,4,0.000,0.048,2628,1116,1654
$GC,9976,1.03,202.2,352.5,6.5,537,9997,0.12,2.20,13.27,0.976,6,0.077,0.044,2679,2533,1595
$GC,10319,0.93,202.2,321.4,9.5,554,10324,0.15,2.22,0.00,0.000,4,0.123,0.058,2634,3926,1594
$GC,10386,0.93,202.2,315.1,9.6,557,10390,0.00,2.15,0.00,0.000,6,0.000,0.036,2633,2509,1593
$GC,10713,1.00,209.1,291.7,6.8,573,10727,0.00,2.22,7.07,0.848,4,0.000,0.047,2633,1111,1567
$GC,10802,1.10,209.1,285.6,7.4,577,10806,0.15,2.20,0.00,0.000,6,0.072,0.043,2694,2529,1567
$GC,11128,0.97,209.1,253.2,10.5,593,11133,0.17,2.25,0.00,0.000,4,0.127,0.060,2640,3940,1565
$GC,11200,0.97,209.1,246.2,9.3,596,11204,0.00,2.17,0.00,0.000,6,0.000,0.036,2640,2506,1566
$GC,11522,1.02,209.1,220.1,8.0,612,11526,0.00,2.12,0.00,0.000,4,0.000,0.048,2640,1114,1566
$GC,11612,1.12,209.1,213.0,7.8,616,11616,0.15,2.17,0.00,0.000,6,0.071,0.043,2705,2523,1566
$GC,11944,0.99,209.1,179.2,9.9,632,11948,0.20,2.25,0.00,0.000,4,0.122,0.059,2638,3934,1567
$GC,12016,0.99,209.1,173.0,7.7,635,12020,0.00,2.15,0.00,0.000,6,0.000,0.036,2638,2515,1567
$GC,12337,1.11,226.9,151.7,6.4,651,12360,0.12,2.20,15.93,0.902,4,0.077,0.047,2693,1110,1495
$GC,12439,1.11,226.9,143.1,8.6,655,12442,0.00,2.22,0.00,0.000,6,0.000,0.044,2693,2531,1494
$GC,12760,1.05,226.9,115.0,8.5,671,12764,0.12,2.25,0.00,0.000,4,0.134,0.059,2656,3938,1493
$GC,12803,1.05,226.9,111.3,8.9,673,12807,0.00,2.15,0.00,0.000,6,0.000,0.036,2656,2522,1493
$GC,13132,1.18,240.9,89.6,6.5,708,13151,0.12,2.20,12.65,0.864,4,0.071,0.048,2709,1115,1437
$GC,13198,1.18,240.9,84.4,8.2,719,13204,0.00,2.20,0.00,0.000,6,0.000,0.044,2709,2522,1437
$GC,13541,1.18,240.9,55.8,8.8,780,13548,0.00,2.25,0.00,0.000,4,0.000,0.061,2709,3927,1437
$GC,13662,1.11,240.9,45.1,8.7,801,13668,0.12,2.15,0.00,0.000,6,0.136,0.038,2672,2517,1437
$GC,14007,1.42,328.5,27.1,4.0,862,14084,0.20,2.47,70.55,0.898,4,0.068,0.062,2761,3936,1079
$GC,14113,1.32,328.5,18.1,9.6,880,14120,0.15,2.25,0.00,0.000,6,0.142,0.038,2721,2524,1075
$STATE,14309,end climb,SURFACE_DEPTH_REACHED
$STATE,14309,begin surface coast
$FINISH,0.8,1.026323
$STATE,14333,end surface coast,CONTROL_FINISHED_OK
$STATE,14333,begin surface
$SM_CCo,14410,0.00,0.000,0,0,1067,331.65
$SM_GC,1.57,7.07,0.00,0.00,0.064,0.000,0.000,162,2337,1067,-10.38,-0.08,331.65
$RAFOS_CLK,746
$RAFOS,4,1225917852,20.750000,20.736666,70,68,62,59,56,55,161,765,198,139,220,171
$RAFOS,3,1225917255,20.583334,20.570833,89,65,57,57,51,51,936,198,116,189,213,163
$RAFOS,2,1225916676,20.416666,20.410000,120,65,61,57,56,55,464,218,234,135,146,201
$RAFOS,1,1225916057,20.250000,20.238056,154,59,58,54,53,53,786,177,208,164,244,144
$RAFOS,0,1225915445,20.083334,20.068056,66,62,53,52,49,47,203,216,156,139,229,109
$RAFOS_FIX,6708.641602,-5823.255371,051108,202056,4,108,6.62
$IRIDIUM_FIX,6636.54,-5655.33,300198,181843
$TT8_MAMPS,0.027612
$HUMID,1864
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,21.5,51.822
$10V_AH,10.6,22.343
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.175,143.100,417.125,0.000,0.000,55.273,47.584,190.811,0.000,0.000,0.000,16.761,1710.349,10321.057,550.330,1807.734,548.401,33.368,1548.072,0.000,1777.113,1800.000,0.528,0.000
$DEVICE_MAMPS,263.081,64.428,1135.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.314,621.013,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34744,919
$CAP_FILE_SIZE,130466,0
$CFSIZE,260165632,230948864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.8
$GPS,051108,220208,6706.065,-5700.552,27,1.4,27,-37.7